#ifndef _INTERFACE_BACKEND_H
#define _INTERFACE_BACKEND_H
#include <QObject>
#include <QByteArray>

#include "_Interface/_datastruct.h"

class  BackendInterface : public QObject{
public:
    BackendInterface(){}
    ~BackendInterface(){}

public:
    virtual short KUKADataRecv() = 0;
    virtual short KUKAProcess() = 0;
    virtual short KUKADataSend() = 0;

    virtual short getKUKARIst(double (&KUKARIst)[6]) = 0;
    virtual short getKUKAAIst(double (&KUKAAIst)[6]) = 0;
    virtual short getKUKAATor(double (&KUKAATor)[6]) = 0;

    virtual short setKUKARTTS(double KUKARTTS[6]) = 0;

    virtual short ForceSensorConnect() = 0;
    virtual void  ForceSensorLoopRun() = 0;
    virtual void  ForceSensorZeroDeal() = 0;
    virtual short ReadForceSensorData(double (&Data)[6]) = 0;

    virtual short LaserSensorConnect() = 0;
    virtual void  LaserSensorLoopRun() = 0;
    virtual short ReadLaserSensorData(double (&Data)[8]) = 0;
};

#endif // _INTERFACE_BACKEND_H
